﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-


from __future__ import print_function
import sys
import time

import RTC
import OpenRTM_aist

datain_port3_spec = ["implementation_id", "DataIn_port3",
                     "type_name", "DataIn_port3",
                     "description", "Console output component",
                     "version", "1.0",
                     "vendor", "Shinji Kurihara",
                     "category", "example",
                     "activity_type", "DataFlowComponent",
                     "max_instance", "10",
                     "language", "Python",
                     "lang_type", "script",
                     ""]


class DataIn_port3(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        return

    def onInitialize(self):
        self._data1 = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._data2 = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._data3 = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._cspmanager = OpenRTM_aist.CSPManager()
        self._inport1 = OpenRTM_aist.CSPInPort(
            "in1", self._data1, self._cspmanager)
        self._inport2 = OpenRTM_aist.CSPInPort(
            "in2", self._data2, self._cspmanager)
        self._inport3 = OpenRTM_aist.CSPInPort(
            "in3", self._data3, self._cspmanager)
        # Set InPort buffer
        self.addInPort("in1", self._inport1)
        self.addInPort("in2", self._inport2)
        self.addInPort("in3", self._inport3)

        return RTC.RTC_OK

    def onExecute(self, ec_id):
        ret, outport, inport = self._cspmanager.select(100)
        if ret:
            if inport:
                inport.readData()
                self._rtcout.RTC_ERROR("dataread: %s", (inport.name()))
                #self._rtcout.RTC_ERROR("dataread: %s %s", (inport.name(), str(inport.readData())))

        return RTC.RTC_OK


def DataIn_port3Init(manager):
    profile = OpenRTM_aist.Properties(defaults_str=datain_port3_spec)
    manager.registerFactory(profile,
                            DataIn_port3,
                            OpenRTM_aist.Delete)


def MyModuleInit(manager):
    DataIn_port3Init(manager)

    # Create a component
    comp = manager.createComponent("DataIn_port3")


def main():
    # Initialize manager
    mgr = OpenRTM_aist.Manager.init(sys.argv)

    # Set module initialization proceduer
    # This procedure will be invoked in activateManager() function.
    mgr.setModuleInitProc(MyModuleInit)

    # Activate manager and register to naming service
    mgr.activateManager()

    # run the manager in blocking mode
    # runManager(False) is the default
    mgr.runManager()

    # If you want to run the manager in non-blocking mode, do like this
    # mgr.runManager(True)


if __name__ == "__main__":
    main()
